Study on Gravity Compensation of RCM Mechanism of Slave Manipulator
In order to improve the positioning accuracy and motion stability of endoscopy surgery robot with remote motion center (RCM) of slave manipulator，the equivalent centroid position of the component is obtained by dynamic equivalence of slave manipulator，and the gravity compensation of the manipulator...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2021-06-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.06.014 |
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| _version_ | 1841547287220715520 |
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| author | Baoping Ma Fan Zhang Zhaoying Zhang Xun Zou Guosheng Zhang |
| author_facet | Baoping Ma Fan Zhang Zhaoying Zhang Xun Zou Guosheng Zhang |
| author_sort | Baoping Ma |
| collection | DOAJ |
| description | In order to improve the positioning accuracy and motion stability of endoscopy surgery robot with remote motion center (RCM) of slave manipulator，the equivalent centroid position of the component is obtained by dynamic equivalence of slave manipulator，and the gravity compensation of the manipulator is carried out by the pull spring-rope wheel. Then the dynamic model of RCM mechanism from the slave manipulator is established according to the Lagrange equation，and the gravity compensation is carried out by the method of calculating moment. By comparing and analyzing the motion response curves of each joint of the manipulator after gravity compensation with Adams，it shows that gravity compensation model can effectively compensate gravity items. |
| format | Article |
| id | doaj-art-7af60d02d92f450d8fa12ef1b8340e62 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2021-06-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-7af60d02d92f450d8fa12ef1b8340e622025-01-10T14:49:01ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392021-06-0145909511256413Study on Gravity Compensation of RCM Mechanism of Slave ManipulatorBaoping MaFan ZhangZhaoying ZhangXun ZouGuosheng ZhangIn order to improve the positioning accuracy and motion stability of endoscopy surgery robot with remote motion center (RCM) of slave manipulator，the equivalent centroid position of the component is obtained by dynamic equivalence of slave manipulator，and the gravity compensation of the manipulator is carried out by the pull spring-rope wheel. Then the dynamic model of RCM mechanism from the slave manipulator is established according to the Lagrange equation，and the gravity compensation is carried out by the method of calculating moment. By comparing and analyzing the motion response curves of each joint of the manipulator after gravity compensation with Adams，it shows that gravity compensation model can effectively compensate gravity items.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.06.014RCM mechanismGravity compensationCalculation moment methodLagrange equation |
| spellingShingle | Baoping Ma Fan Zhang Zhaoying Zhang Xun Zou Guosheng Zhang Study on Gravity Compensation of RCM Mechanism of Slave Manipulator Jixie chuandong RCM mechanism Gravity compensation Calculation moment method Lagrange equation |
| title | Study on Gravity Compensation of RCM Mechanism of Slave Manipulator |
| title_full | Study on Gravity Compensation of RCM Mechanism of Slave Manipulator |
| title_fullStr | Study on Gravity Compensation of RCM Mechanism of Slave Manipulator |
| title_full_unstemmed | Study on Gravity Compensation of RCM Mechanism of Slave Manipulator |
| title_short | Study on Gravity Compensation of RCM Mechanism of Slave Manipulator |
| title_sort | study on gravity compensation of rcm mechanism of slave manipulator |
| topic | RCM mechanism Gravity compensation Calculation moment method Lagrange equation |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.06.014 |
| work_keys_str_mv | AT baopingma studyongravitycompensationofrcmmechanismofslavemanipulator AT fanzhang studyongravitycompensationofrcmmechanismofslavemanipulator AT zhaoyingzhang studyongravitycompensationofrcmmechanismofslavemanipulator AT xunzou studyongravitycompensationofrcmmechanismofslavemanipulator AT guoshengzhang studyongravitycompensationofrcmmechanismofslavemanipulator |